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<div class="title">point_representation.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_POINT_REPRESENTATION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_POINT_REPRESENTATION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/for_each_type.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html">   55</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">   59</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a6c1e194235db969264453a4531b407fc">   61</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_point_representation.html#a6c1e194235db969264453a4531b407fc">alpha_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">   71</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PointRepresentation&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointRepresentation&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a6be5889c55b01d606d148b9657d99d90">   78</a></span>&#160;      <a class="code" href="classpcl_1_1_point_representation.html#a6be5889c55b01d606d148b9657d99d90">PointRepresentation</a> () : <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> (0), <a class="code" href="classpcl_1_1_point_representation.html#a6c1e194235db969264453a4531b407fc">alpha_</a> (0), <a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a> (false) {}</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a427bbef66f2a2d445334f416f1fb1bf7">   81</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_point_representation.html#a427bbef66f2a2d445334f416f1fb1bf7">~PointRepresentation</a> () {}</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a39021ff2549ce7dfadf309325452cdb3">   87</a></span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_point_representation.html#a39021ff2549ce7dfadf309325452cdb3">copyToFloatArray</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p, <span class="keywordtype">float</span> *out) <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a61f671d7aa579871e8085ff941197cc1">   96</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_point_representation.html#a61f671d7aa579871e8085ff941197cc1">isTrivial</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a> &amp;&amp; <a class="code" href="classpcl_1_1_point_representation.html#a6c1e194235db969264453a4531b407fc">alpha_</a>.empty (); }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a7349905def3f55233c947bb24e465fff">  102</a></span>&#160;      <a class="code" href="classpcl_1_1_point_representation.html#a7349905def3f55233c947bb24e465fff">isValid</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p)<span class="keyword"> const</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordtype">bool</span> is_valid = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a>)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span>* temp = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;p);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;            <span class="keywordflow">if</span> (!pcl_isfinite (temp[i]))</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;              is_valid = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        }</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          <span class="keywordtype">float</span> *temp = <span class="keyword">new</span> <span class="keywordtype">float</span>[<a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>];</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          <a class="code" href="classpcl_1_1_point_representation.html#a39021ff2549ce7dfadf309325452cdb3">copyToFloatArray</a> (p, temp);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            <span class="keywordflow">if</span> (!pcl_isfinite (temp[i]))</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;              is_valid = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;            }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          <span class="keyword">delete</span> [] temp;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordflow">return</span> (is_valid);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> OutputType&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a8abd9892e75cd4999f883e5a6647c089">  142</a></span>&#160;      <a class="code" href="classpcl_1_1_point_representation.html#a8abd9892e75cd4999f883e5a6647c089">vectorize</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p, OutputType &amp;out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">float</span> *temp = <span class="keyword">new</span> <span class="keywordtype">float</span>[<a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>];</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a39021ff2549ce7dfadf309325452cdb3">copyToFloatArray</a> (p, temp);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_point_representation.html#a6c1e194235db969264453a4531b407fc">alpha_</a>.empty ())</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;            out[i] = temp[i];</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            out[i] = temp[i] * <a class="code" href="classpcl_1_1_point_representation.html#a6c1e194235db969264453a4531b407fc">alpha_</a>[i];</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keyword">delete</span> [] temp;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a640ec71cc593dc67377df208e7e1558e">  163</a></span>&#160;      <a class="code" href="classpcl_1_1_point_representation.html#a640ec71cc593dc67377df208e7e1558e">setRescaleValues</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> *rescale_array)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a6c1e194235db969264453a4531b407fc">alpha_</a>.resize (<a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <a class="code" href="classpcl_1_1_point_representation.html#a6c1e194235db969264453a4531b407fc">alpha_</a>[i] = rescale_array[i];</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_representation.html#a5fe6b9c44fcd631a86aac9a1e6dc541f">  171</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_point_representation.html#a5fe6b9c44fcd631a86aac9a1e6dc541f">getNumberOfDimensions</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>); }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  };</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Default&gt;</div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation.html">  178</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a> &lt;PointDefault&gt;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation &lt;PointDefault&gt;::nr_dimensions_</a>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation &lt;PointDefault&gt;::trivial_</a>;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="comment">// Boost shared pointers</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;DefaultPointRepresentation&lt;PointDefault&gt; &gt; Ptr;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const DefaultPointRepresentation&lt;PointDefault&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> ()</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="comment">// If point type is unknown, assume it&#39;s a struct/array of floats, and compute the number of dimensions</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = <span class="keyword">sizeof</span> (PointDefault) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="comment">// Limit the default representation to the first 3 elements</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> &gt; 3) <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 3;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> () {}</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keyword">inline</span> Ptr</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      makeShared ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keywordflow">return</span> (Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation&lt;PointDefault&gt;</a> (*<span class="keyword">this</span>)));</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation.html#a8698ce63ed3e4ce4e660c8628992fdba">  207</a></span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html#a8698ce63ed3e4ce4e660c8628992fdba">copyToFloatArray</a> (<span class="keyword">const</span> PointDefault &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="comment">// If point type is unknown, treat it as a struct/array of floats</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span>* ptr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (&amp;p);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          out[i] = ptr[i];</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  };</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Default&gt;</div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_feature_representation.html">  221</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_feature_representation.html">DefaultFeatureRepresentation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a> &lt;PointDefault&gt;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation &lt;PointDefault&gt;::nr_dimensions_</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="structpcl_1_1_default_feature_representation_1_1_increment_functor.html">  227</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_default_feature_representation_1_1_increment_functor.html">IncrementFunctor</a></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <a class="code" href="structpcl_1_1_default_feature_representation_1_1_increment_functor.html">IncrementFunctor</a> (<span class="keywordtype">int</span> &amp;n) : n_ (n)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          n_ = 0;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Key&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> operator () ()</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        {</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;          n_ += <a class="code" href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype&lt;PointDefault, Key&gt;::size</a>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        }</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <span class="keywordtype">int</span> &amp;n_;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      };</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor.html">  243</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor.html">NdCopyPointFunctor</a></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">traits::POD&lt;PointDefault&gt;::type</a> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      <a class="code" href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor.html">NdCopyPointFunctor</a> (<span class="keyword">const</span> PointDefault &amp;p1, <span class="keywordtype">float</span> * p2)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        : p1_ (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>&amp;<span class="keyword">&gt;</span>(p1)), p2_ (p2), f_idx_ (0) { }</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Key&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> operator() ()</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype&lt;PointDefault, Key&gt;::type</a> FieldT;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> NrDims = <a class="code" href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype&lt;PointDefault, Key&gt;::size</a>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <a class="code" href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor_1_1_helper.html">Helper&lt;Key, FieldT, NrDims&gt;::copyPoint</a> (p1_, p2_, f_idx_);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      <span class="comment">// Copy helper for scalar fields</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Key, <span class="keyword">typename</span> FieldT, <span class="keywordtype">int</span> NrDims&gt;</div>
<div class="line"><a name="l00259"></a><span class="lineno"><a class="line" href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor_1_1_helper.html">  259</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor_1_1_helper.html">Helper</a></div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span> copyPoint (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a> &amp;p1, <span class="keywordtype">float</span> * p2, <span class="keywordtype">int</span> &amp;f_idx)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;          <span class="keyword">const</span> uint8_t * data_ptr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t *<span class="keyword">&gt;</span> (&amp;p1) +</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;            <a class="code" href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset&lt;PointDefault, Key&gt;::value</a>;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          p2[f_idx++] = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>FieldT*<span class="keyword">&gt;</span> (data_ptr);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      };</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      <span class="comment">// Copy helper for array fields</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Key, <span class="keyword">typename</span> FieldT, <span class="keywordtype">int</span> NrDims&gt;</div>
<div class="line"><a name="l00270"></a><span class="lineno"><a class="line" href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor_1_1_helper_3_01_key_00_01151d27a30126c39dba293d573e4e0437.html">  270</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor_1_1_helper.html">Helper</a>&lt;Key, FieldT[NrDims], NrDims&gt;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      {</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span> copyPoint (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a> &amp;p1, <span class="keywordtype">float</span> * p2, <span class="keywordtype">int</span> &amp;f_idx)</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        {</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;          <span class="keyword">const</span> uint8_t * data_ptr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t *<span class="keyword">&gt;</span> (&amp;p1) +</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;            <a class="code" href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset&lt;PointDefault, Key&gt;::value</a>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;          <span class="keywordtype">int</span> nr_dims = NrDims;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;          <span class="keyword">const</span> FieldT * array = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>FieldT *<span class="keyword">&gt;</span> (data_ptr);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_dims; ++i)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;          {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;            p2[f_idx++] = array[i];</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          }</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      };</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a> &amp;p1_;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keywordtype">float</span> * p2_;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keywordtype">int</span> f_idx_;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    };</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      <span class="comment">// Boost shared pointers</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr&lt;DefaultFeatureRepresentation&lt;PointDefault&gt; &gt; Ptr;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr&lt;const DefaultFeatureRepresentation&lt;PointDefault&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointDefault&gt;::type</a> FieldList;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <a class="code" href="classpcl_1_1_default_feature_representation.html">DefaultFeatureRepresentation</a> ()</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      {</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 0; <span class="comment">// zero-out the nr_dimensions_ before it gets incremented</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1_default_feature_representation_1_1_increment_functor.html">IncrementFunctor</a> (<a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>));</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keyword">inline</span> Ptr</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      makeShared ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        <span class="keywordflow">return</span> (Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_default_feature_representation.html">DefaultFeatureRepresentation&lt;PointDefault&gt;</a> (*<span class="keyword">this</span>)));</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_feature_representation.html#a6370adf6138277430cb05c4f9a5136f3">  310</a></span>&#160;      <a class="code" href="classpcl_1_1_default_feature_representation.html#a6370adf6138277430cb05c4f9a5136f3">copyToFloatArray</a> (<span class="keyword">const</span> PointDefault &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor.html">NdCopyPointFunctor</a> (p, out));</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  };</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00318"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_point_x_y_z_01_4.html">  318</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> &lt;<a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a>&gt; : <span class="keyword">public</span>  <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a> &lt;PointXYZ&gt;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> ()</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 3;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_point_x_y_z_01_4.html#ad4a3ef016ed214628a351c544f870c3e">  328</a></span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation_3_01_point_x_y_z_01_4.html#ad4a3ef016ed214628a351c544f870c3e">copyToFloatArray</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        out[0] = p.x;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        out[1] = p.y;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;        out[2] = p.z;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      }</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  };</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_point_x_y_z_i_01_4.html">  338</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> &lt;<a class="code" href="structpcl_1_1_point_x_y_z_i.html">PointXYZI</a>&gt; : <span class="keyword">public</span>  <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a> &lt;PointXYZI&gt;</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> ()</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      {</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 3;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      }</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00348"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_point_x_y_z_i_01_4.html#a75b280e832ae7f5d09c82afd559e2a40">  348</a></span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation_3_01_point_x_y_z_i_01_4.html#a75b280e832ae7f5d09c82afd559e2a40">copyToFloatArray</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_i.html">PointXYZI</a> &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        out[0] = p.x;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        out[1] = p.y;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        out[2] = p.z;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <span class="comment">// By default, p.intensity is not part of the PointXYZI vectorization</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      }</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  };</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00359"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_point_normal_01_4.html">  359</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> &lt;<a class="code" href="structpcl_1_1_point_normal.html">PointNormal</a>&gt; : <span class="keyword">public</span>  <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a> &lt;PointNormal&gt;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> ()</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      {</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 3;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      }</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00369"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_point_normal_01_4.html#a81d34fad250c97050dd523978df29859">  369</a></span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation_3_01_point_normal_01_4.html#a81d34fad250c97050dd523978df29859">copyToFloatArray</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_normal.html">PointNormal</a> &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        out[0] = p.x;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        out[1] = p.y;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        out[2] = p.z;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      }</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  };</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00379"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_p_f_h_signature125_01_4.html">  379</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> &lt;<a class="code" href="structpcl_1_1_p_f_h_signature125.html">PFHSignature125</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_default_feature_representation.html">DefaultFeatureRepresentation</a> &lt;PFHSignature125&gt;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  {};</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00384"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_p_f_h_r_g_b_signature250_01_4.html">  384</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> &lt;<a class="code" href="structpcl_1_1_p_f_h_r_g_b_signature250.html">PFHRGBSignature250</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_default_feature_representation.html">DefaultFeatureRepresentation</a> &lt;PFHRGBSignature250&gt;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  {};</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00389"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_p_p_f_signature_01_4.html">  389</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> &lt;<a class="code" href="structpcl_1_1_p_p_f_signature.html">PPFSignature</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_default_feature_representation.html">DefaultFeatureRepresentation</a> &lt;PPFSignature&gt;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  {</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> ()</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      {</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 4;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00399"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_p_p_f_signature_01_4.html#aa0234aeef051b986558391c5f43e3163">  399</a></span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation_3_01_p_p_f_signature_01_4.html#aa0234aeef051b986558391c5f43e3163">copyToFloatArray</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_p_f_signature.html">PPFSignature</a> &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        out[0] = p.f1;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;        out[1] = p.f2;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        out[2] = p.f3;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;        out[3] = p.f4;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      }</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  };</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_f_p_f_h_signature33_01_4.html">  410</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> &lt;<a class="code" href="structpcl_1_1_f_p_f_h_signature33.html">FPFHSignature33</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_default_feature_representation.html">DefaultFeatureRepresentation</a> &lt;FPFHSignature33&gt;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  {};</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00415"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_v_f_h_signature308_01_4.html">  415</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> &lt;<a class="code" href="structpcl_1_1_v_f_h_signature308.html">VFHSignature308</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_default_feature_representation.html">DefaultFeatureRepresentation</a> &lt;VFHSignature308&gt;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  {};</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00419"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_narf36_01_4.html">  419</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> &lt;<a class="code" href="structpcl_1_1_narf36.html">Narf36</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a> &lt;Narf36&gt;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  {</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> ()</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      {</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 36;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">trivial_</a>=<span class="keyword">false</span>;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      }</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00429"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_narf36_01_4.html#af33e706499155b73858442680005811e">  429</a></span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation_3_01_narf36_01_4.html#af33e706499155b73858442680005811e">copyToFloatArray</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_narf36.html">Narf36</a> &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;          out[i] = p.descriptor[i];</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      }</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;  };</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00437"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_normal_based_signature12_01_4.html">  437</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a>&lt;<a class="code" href="structpcl_1_1_normal_based_signature12.html">NormalBasedSignature12</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_default_feature_representation.html">DefaultFeatureRepresentation</a> &lt;NormalBasedSignature12&gt;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  {};</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00442"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_shape_context1980_01_4.html">  442</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a>&lt;<a class="code" href="structpcl_1_1_shape_context1980.html">ShapeContext1980</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a>&lt;ShapeContext1980&gt;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  {</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> ()</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;      {</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 1980;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00451"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_shape_context1980_01_4.html#a6a8f7466e078940027a576e4c05f201d">  451</a></span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation_3_01_shape_context1980_01_4.html#a6a8f7466e078940027a576e4c05f201d">copyToFloatArray</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_shape_context1980.html">ShapeContext1980</a> &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;          out[i] = p.descriptor[i];</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      }</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  };</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00460"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_unique_shape_context1960_01_4.html">  460</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a>&lt;<a class="code" href="structpcl_1_1_unique_shape_context1960.html">UniqueShapeContext1960</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a>&lt;UniqueShapeContext1960&gt;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  {</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> ()</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      {</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 1960;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      }</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00469"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_unique_shape_context1960_01_4.html#ac6f1aaee69b795bfd6cb6d92cae46c3c">  469</a></span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation_3_01_unique_shape_context1960_01_4.html#ac6f1aaee69b795bfd6cb6d92cae46c3c">copyToFloatArray</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_unique_shape_context1960.html">UniqueShapeContext1960</a> &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;          out[i] = p.descriptor[i];</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;      }</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  };</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00478"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_s_h_o_t352_01_4.html">  478</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a>&lt;<a class="code" href="structpcl_1_1_s_h_o_t352.html">SHOT352</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a>&lt;SHOT352&gt;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;  {</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> ()</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      {</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 352;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      }</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00487"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_s_h_o_t352_01_4.html#a2710df1e3a2bcf9c34d5b392d99e7f6e">  487</a></span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation_3_01_s_h_o_t352_01_4.html#a2710df1e3a2bcf9c34d5b392d99e7f6e">copyToFloatArray</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_s_h_o_t352.html">SHOT352</a> &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;          out[i] = p.descriptor[i];</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      }</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  };</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  <span class="keyword">template</span> &lt;&gt;</div>
<div class="line"><a name="l00496"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_s_h_o_t1344_01_4.html">  496</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a>&lt;<a class="code" href="structpcl_1_1_s_h_o_t1344.html">SHOT1344</a>&gt; : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a>&lt;SHOT1344&gt;</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  {</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a> ()</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      {</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = 1344;</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;      }</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00505"></a><span class="lineno"><a class="line" href="classpcl_1_1_default_point_representation_3_01_s_h_o_t1344_01_4.html#a4614abc47829b257f83f73634d603b88">  505</a></span>&#160;      <a class="code" href="classpcl_1_1_default_point_representation_3_01_s_h_o_t1344_01_4.html#a4614abc47829b257f83f73634d603b88">copyToFloatArray</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_s_h_o_t1344.html">SHOT1344</a> &amp;p, <span class="keywordtype">float</span> * out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;          out[i] = p.descriptor[i];</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      }</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  };</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Default&gt;</div>
<div class="line"><a name="l00517"></a><span class="lineno"><a class="line" href="classpcl_1_1_custom_point_representation.html">  517</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_custom_point_representation.html">CustomPointRepresentation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation</a> &lt;PointDefault&gt;</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  {</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_representation.html">PointRepresentation &lt;PointDefault&gt;::nr_dimensions_</a>;</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160; </div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      <span class="comment">// Boost shared pointers</span></div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;CustomPointRepresentation&lt;PointDefault&gt; &gt; Ptr;</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const CustomPointRepresentation&lt;PointDefault&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno"><a class="line" href="classpcl_1_1_custom_point_representation.html#a6b839fda3c73f28d7f152582397818bc">  530</a></span>&#160;      <a class="code" href="classpcl_1_1_custom_point_representation.html#a6b839fda3c73f28d7f152582397818bc">CustomPointRepresentation</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> max_dim = 3, <span class="keyword">const</span> <span class="keywordtype">int</span> start_dim = 0)</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        : <a class="code" href="classpcl_1_1_custom_point_representation.html#a98148a8a7d739c339da8a8686f463e59">max_dim_</a>(max_dim), <a class="code" href="classpcl_1_1_custom_point_representation.html#afd87389ce2cd2be49e5873aed4416a34">start_dim_</a>(start_dim)</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;      {</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;        <span class="comment">// If point type is unknown, assume it&#39;s a struct/array of floats, and compute the number of dimensions</span></div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;        <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<span class="keyword">sizeof</span> (PointDefault) / <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>)) - <a class="code" href="classpcl_1_1_custom_point_representation.html#afd87389ce2cd2be49e5873aed4416a34">start_dim_</a>;</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        <span class="comment">// Limit the default representation to the first 3 elements</span></div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> &gt; <a class="code" href="classpcl_1_1_custom_point_representation.html#a98148a8a7d739c339da8a8686f463e59">max_dim_</a>)</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;          <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a> = <a class="code" href="classpcl_1_1_custom_point_representation.html#a98148a8a7d739c339da8a8686f463e59">max_dim_</a>;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      }</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      <span class="keyword">inline</span> Ptr</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      makeShared ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;        <span class="keywordflow">return</span> Ptr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_custom_point_representation.html">CustomPointRepresentation&lt;PointDefault&gt;</a> (*<span class="keyword">this</span>));</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      }</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00551"></a><span class="lineno"><a class="line" href="classpcl_1_1_custom_point_representation.html#a0498b77f6e88e67754fd35bdac410a19">  551</a></span>&#160;      <a class="code" href="classpcl_1_1_custom_point_representation.html#a0498b77f6e88e67754fd35bdac410a19">copyToFloatArray</a> (<span class="keyword">const</span> PointDefault &amp;p, <span class="keywordtype">float</span> *out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;        <span class="comment">// If point type is unknown, treat it as a struct/array of floats</span></div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> *ptr = (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span> (&amp;p)) + <a class="code" href="classpcl_1_1_custom_point_representation.html#afd87389ce2cd2be49e5873aed4416a34">start_dim_</a>;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">nr_dimensions_</a>; ++i)</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;          out[i] = ptr[i];</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      }</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160; </div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00561"></a><span class="lineno"><a class="line" href="classpcl_1_1_custom_point_representation.html#a98148a8a7d739c339da8a8686f463e59">  561</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_custom_point_representation.html#a98148a8a7d739c339da8a8686f463e59">max_dim_</a>;</div>
<div class="line"><a name="l00563"></a><span class="lineno"><a class="line" href="classpcl_1_1_custom_point_representation.html#afd87389ce2cd2be49e5873aed4416a34">  563</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_custom_point_representation.html#afd87389ce2cd2be49e5873aed4416a34">start_dim_</a>;</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  };</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;}</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160; </div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// #ifndef PCL_POINT_REPRESENTATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_custom_point_representation_html"><div class="ttname"><a href="classpcl_1_1_custom_point_representation.html">pcl::CustomPointRepresentation</a></div><div class="ttdoc">CustomPointRepresentation extends PointRepresentation to allow for sub-part selection on the point.</div><div class="ttdef"><b>Definition:</b> point_representation.h:518</div></div>
<div class="ttc" id="aclasspcl_1_1_custom_point_representation_html_a0498b77f6e88e67754fd35bdac410a19"><div class="ttname"><a href="classpcl_1_1_custom_point_representation.html#a0498b77f6e88e67754fd35bdac410a19">pcl::CustomPointRepresentation::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const PointDefault &amp;p, float *out) const</div><div class="ttdoc">Copy the point data into a float array</div><div class="ttdef"><b>Definition:</b> point_representation.h:551</div></div>
<div class="ttc" id="aclasspcl_1_1_custom_point_representation_html_a6b839fda3c73f28d7f152582397818bc"><div class="ttname"><a href="classpcl_1_1_custom_point_representation.html#a6b839fda3c73f28d7f152582397818bc">pcl::CustomPointRepresentation::CustomPointRepresentation</a></div><div class="ttdeci">CustomPointRepresentation(const int max_dim=3, const int start_dim=0)</div><div class="ttdoc">Constructor</div><div class="ttdef"><b>Definition:</b> point_representation.h:530</div></div>
<div class="ttc" id="aclasspcl_1_1_custom_point_representation_html_a98148a8a7d739c339da8a8686f463e59"><div class="ttname"><a href="classpcl_1_1_custom_point_representation.html#a98148a8a7d739c339da8a8686f463e59">pcl::CustomPointRepresentation::max_dim_</a></div><div class="ttdeci">int max_dim_</div><div class="ttdoc">Use at most this many dimensions (i.e. the &quot;k&quot; in &quot;k-D&quot; is at most max_dim_) –</div><div class="ttdef"><b>Definition:</b> point_representation.h:561</div></div>
<div class="ttc" id="aclasspcl_1_1_custom_point_representation_html_afd87389ce2cd2be49e5873aed4416a34"><div class="ttname"><a href="classpcl_1_1_custom_point_representation.html#afd87389ce2cd2be49e5873aed4416a34">pcl::CustomPointRepresentation::start_dim_</a></div><div class="ttdeci">int start_dim_</div><div class="ttdoc">Use dimensions only starting with this one (i.e. the &quot;k&quot; in &quot;k-D&quot; is = dim - start_dim_) –</div><div class="ttdef"><b>Definition:</b> point_representation.h:563</div></div>
<div class="ttc" id="aclasspcl_1_1_default_feature_representation_html"><div class="ttname"><a href="classpcl_1_1_default_feature_representation.html">pcl::DefaultFeatureRepresentation</a></div><div class="ttdoc">DefaulFeatureRepresentation extends PointRepresentation and is intended to be used when defining the ...</div><div class="ttdef"><b>Definition:</b> point_representation.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_default_feature_representation_html_a6370adf6138277430cb05c4f9a5136f3"><div class="ttname"><a href="classpcl_1_1_default_feature_representation.html#a6370adf6138277430cb05c4f9a5136f3">pcl::DefaultFeatureRepresentation::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const PointDefault &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:310</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_3_01_narf36_01_4_html_af33e706499155b73858442680005811e"><div class="ttname"><a href="classpcl_1_1_default_point_representation_3_01_narf36_01_4.html#af33e706499155b73858442680005811e">pcl::DefaultPointRepresentation&lt; Narf36 &gt;::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const Narf36 &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:429</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_3_01_p_p_f_signature_01_4_html_aa0234aeef051b986558391c5f43e3163"><div class="ttname"><a href="classpcl_1_1_default_point_representation_3_01_p_p_f_signature_01_4.html#aa0234aeef051b986558391c5f43e3163">pcl::DefaultPointRepresentation&lt; PPFSignature &gt;::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const PPFSignature &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:399</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_3_01_point_normal_01_4_html_a81d34fad250c97050dd523978df29859"><div class="ttname"><a href="classpcl_1_1_default_point_representation_3_01_point_normal_01_4.html#a81d34fad250c97050dd523978df29859">pcl::DefaultPointRepresentation&lt; PointNormal &gt;::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const PointNormal &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:369</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_3_01_point_x_y_z_01_4_html_ad4a3ef016ed214628a351c544f870c3e"><div class="ttname"><a href="classpcl_1_1_default_point_representation_3_01_point_x_y_z_01_4.html#ad4a3ef016ed214628a351c544f870c3e">pcl::DefaultPointRepresentation&lt; PointXYZ &gt;::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const PointXYZ &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:328</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_3_01_point_x_y_z_i_01_4_html_a75b280e832ae7f5d09c82afd559e2a40"><div class="ttname"><a href="classpcl_1_1_default_point_representation_3_01_point_x_y_z_i_01_4.html#a75b280e832ae7f5d09c82afd559e2a40">pcl::DefaultPointRepresentation&lt; PointXYZI &gt;::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const PointXYZI &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:348</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_3_01_s_h_o_t1344_01_4_html_a4614abc47829b257f83f73634d603b88"><div class="ttname"><a href="classpcl_1_1_default_point_representation_3_01_s_h_o_t1344_01_4.html#a4614abc47829b257f83f73634d603b88">pcl::DefaultPointRepresentation&lt; SHOT1344 &gt;::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const SHOT1344 &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:505</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_3_01_s_h_o_t352_01_4_html_a2710df1e3a2bcf9c34d5b392d99e7f6e"><div class="ttname"><a href="classpcl_1_1_default_point_representation_3_01_s_h_o_t352_01_4.html#a2710df1e3a2bcf9c34d5b392d99e7f6e">pcl::DefaultPointRepresentation&lt; SHOT352 &gt;::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const SHOT352 &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:487</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_3_01_shape_context1980_01_4_html_a6a8f7466e078940027a576e4c05f201d"><div class="ttname"><a href="classpcl_1_1_default_point_representation_3_01_shape_context1980_01_4.html#a6a8f7466e078940027a576e4c05f201d">pcl::DefaultPointRepresentation&lt; ShapeContext1980 &gt;::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const ShapeContext1980 &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:451</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_3_01_unique_shape_context1960_01_4_html_ac6f1aaee69b795bfd6cb6d92cae46c3c"><div class="ttname"><a href="classpcl_1_1_default_point_representation_3_01_unique_shape_context1960_01_4.html#ac6f1aaee69b795bfd6cb6d92cae46c3c">pcl::DefaultPointRepresentation&lt; UniqueShapeContext1960 &gt;::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const UniqueShapeContext1960 &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:469</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_html"><div class="ttname"><a href="classpcl_1_1_default_point_representation.html">pcl::DefaultPointRepresentation</a></div><div class="ttdoc">DefaultPointRepresentation extends PointRepresentation to define default behavior for common point ty...</div><div class="ttdef"><b>Definition:</b> point_representation.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_html_a8698ce63ed3e4ce4e660c8628992fdba"><div class="ttname"><a href="classpcl_1_1_default_point_representation.html#a8698ce63ed3e4ce4e660c8628992fdba">pcl::DefaultPointRepresentation::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const PointDefault &amp;p, float *out) const</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div><div class="ttdef"><b>Definition:</b> point_representation.h:207</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html"><div class="ttname"><a href="classpcl_1_1_point_representation.html">pcl::PointRepresentation</a></div><div class="ttdoc">PointRepresentation provides a set of methods for converting a point structs/object into an n-dimensi...</div><div class="ttdef"><b>Definition:</b> point_representation.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a39021ff2549ce7dfadf309325452cdb3"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a39021ff2549ce7dfadf309325452cdb3">pcl::PointRepresentation::copyToFloatArray</a></div><div class="ttdeci">virtual void copyToFloatArray(const PointT &amp;p, float *out) const =0</div><div class="ttdoc">Copy point data from input point to a float array. This method must be overriden in all subclasses.</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a427bbef66f2a2d445334f416f1fb1bf7"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a427bbef66f2a2d445334f416f1fb1bf7">pcl::PointRepresentation::~PointRepresentation</a></div><div class="ttdeci">virtual ~PointRepresentation()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> point_representation.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a5a8d2c82167160ec74077b612b236c77"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a5a8d2c82167160ec74077b612b236c77">pcl::PointRepresentation::nr_dimensions_</a></div><div class="ttdeci">int nr_dimensions_</div><div class="ttdoc">The number of dimensions in this point's vector (i.e. the &quot;k&quot; in &quot;k-D&quot;)</div><div class="ttdef"><b>Definition:</b> point_representation.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a5ada3acdb7732a09aeaabb0bced153cd"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a5ada3acdb7732a09aeaabb0bced153cd">pcl::PointRepresentation::trivial_</a></div><div class="ttdeci">bool trivial_</div><div class="ttdoc">Indicates whether this point representation is trivial. It is trivial if and only if the following co...</div><div class="ttdef"><b>Definition:</b> point_representation.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a5fe6b9c44fcd631a86aac9a1e6dc541f"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a5fe6b9c44fcd631a86aac9a1e6dc541f">pcl::PointRepresentation::getNumberOfDimensions</a></div><div class="ttdeci">int getNumberOfDimensions() const</div><div class="ttdoc">Return the number of dimensions in the point's vector representation.</div><div class="ttdef"><b>Definition:</b> point_representation.h:171</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a61f671d7aa579871e8085ff941197cc1"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a61f671d7aa579871e8085ff941197cc1">pcl::PointRepresentation::isTrivial</a></div><div class="ttdeci">bool isTrivial() const</div><div class="ttdoc">Returns whether this point representation is trivial. It is trivial if and only if the following cond...</div><div class="ttdef"><b>Definition:</b> point_representation.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a640ec71cc593dc67377df208e7e1558e"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a640ec71cc593dc67377df208e7e1558e">pcl::PointRepresentation::setRescaleValues</a></div><div class="ttdeci">void setRescaleValues(const float *rescale_array)</div><div class="ttdoc">Set the rescale values to use when vectorizing points</div><div class="ttdef"><b>Definition:</b> point_representation.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a6be5889c55b01d606d148b9657d99d90"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a6be5889c55b01d606d148b9657d99d90">pcl::PointRepresentation::PointRepresentation</a></div><div class="ttdeci">PointRepresentation()</div><div class="ttdoc">Empty constructor</div><div class="ttdef"><b>Definition:</b> point_representation.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a6c1e194235db969264453a4531b407fc"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a6c1e194235db969264453a4531b407fc">pcl::PointRepresentation::alpha_</a></div><div class="ttdeci">std::vector&lt; float &gt; alpha_</div><div class="ttdoc">A vector containing the rescale factor to apply to each dimension.</div><div class="ttdef"><b>Definition:</b> point_representation.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a7349905def3f55233c947bb24e465fff"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a7349905def3f55233c947bb24e465fff">pcl::PointRepresentation::isValid</a></div><div class="ttdeci">virtual bool isValid(const PointT &amp;p) const</div><div class="ttdoc">Verify that the input point is valid.</div><div class="ttdef"><b>Definition:</b> point_representation.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1_point_representation_html_a8abd9892e75cd4999f883e5a6647c089"><div class="ttname"><a href="classpcl_1_1_point_representation.html#a8abd9892e75cd4999f883e5a6647c089">pcl::PointRepresentation::vectorize</a></div><div class="ttdeci">void vectorize(const PointT &amp;p, OutputType &amp;out) const</div><div class="ttdoc">Convert input point into a vector representation, rescaling by alpha.</div><div class="ttdef"><b>Definition:</b> point_representation.h:142</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_default_feature_representation_1_1_increment_functor_html"><div class="ttname"><a href="structpcl_1_1_default_feature_representation_1_1_increment_functor.html">pcl::DefaultFeatureRepresentation::IncrementFunctor</a></div><div class="ttdef"><b>Definition:</b> point_representation.h:228</div></div>
<div class="ttc" id="astructpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor_1_1_helper_html"><div class="ttname"><a href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor_1_1_helper.html">pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::Helper</a></div><div class="ttdef"><b>Definition:</b> point_representation.h:260</div></div>
<div class="ttc" id="astructpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor_html"><div class="ttname"><a href="structpcl_1_1_default_feature_representation_1_1_nd_copy_point_functor.html">pcl::DefaultFeatureRepresentation::NdCopyPointFunctor</a></div><div class="ttdef"><b>Definition:</b> point_representation.h:244</div></div>
<div class="ttc" id="astructpcl_1_1_f_p_f_h_signature33_html"><div class="ttname"><a href="structpcl_1_1_f_p_f_h_signature33.html">pcl::FPFHSignature33</a></div><div class="ttdoc">A point structure representing the Fast Point Feature Histogram (FPFH).</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1354</div></div>
<div class="ttc" id="astructpcl_1_1_narf36_html"><div class="ttname"><a href="structpcl_1_1_narf36.html">pcl::Narf36</a></div><div class="ttdoc">A point structure representing the Narf descriptor.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1428</div></div>
<div class="ttc" id="astructpcl_1_1_normal_based_signature12_html"><div class="ttname"><a href="structpcl_1_1_normal_based_signature12.html">pcl::NormalBasedSignature12</a></div><div class="ttdoc">A point structure representing the Normal Based Signature for a feature matrix of 4-by-3</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1241</div></div>
<div class="ttc" id="astructpcl_1_1_p_f_h_r_g_b_signature250_html"><div class="ttname"><a href="structpcl_1_1_p_f_h_r_g_b_signature250.html">pcl::PFHRGBSignature250</a></div><div class="ttdoc">A point structure representing the Point Feature Histogram with colors (PFHRGB).</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1191</div></div>
<div class="ttc" id="astructpcl_1_1_p_f_h_signature125_html"><div class="ttname"><a href="structpcl_1_1_p_f_h_signature125.html">pcl::PFHSignature125</a></div><div class="ttdoc">A point structure representing the Point Feature Histogram (PFH).</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1179</div></div>
<div class="ttc" id="astructpcl_1_1_p_p_f_signature_html"><div class="ttname"><a href="structpcl_1_1_p_p_f_signature.html">pcl::PPFSignature</a></div><div class="ttdoc">A point structure for storing the Point Pair Feature (PPF) values</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1203</div></div>
<div class="ttc" id="astructpcl_1_1_point_normal_html"><div class="ttname"><a href="structpcl_1_1_point_normal.html">pcl::PointNormal</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, together with normal coordinates and the su...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:859</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_i_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_i.html">pcl::PointXYZI</a></div><div class="ttdef"><b>Definition:</b> point_types.hpp:452</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_s_h_o_t1344_html"><div class="ttname"><a href="structpcl_1_1_s_h_o_t1344.html">pcl::SHOT1344</a></div><div class="ttdoc">A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape+col...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1292</div></div>
<div class="ttc" id="astructpcl_1_1_s_h_o_t352_html"><div class="ttname"><a href="structpcl_1_1_s_h_o_t352.html">pcl::SHOT352</a></div><div class="ttdoc">A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape onl...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1278</div></div>
<div class="ttc" id="astructpcl_1_1_shape_context1980_html"><div class="ttname"><a href="structpcl_1_1_shape_context1980.html">pcl::ShapeContext1980</a></div><div class="ttdoc">A point structure representing a Shape Context.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1252</div></div>
<div class="ttc" id="astructpcl_1_1_unique_shape_context1960_html"><div class="ttname"><a href="structpcl_1_1_unique_shape_context1960.html">pcl::UniqueShapeContext1960</a></div><div class="ttdoc">A point structure representing a Unique Shape Context.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1265</div></div>
<div class="ttc" id="astructpcl_1_1_v_f_h_signature308_html"><div class="ttname"><a href="structpcl_1_1_v_f_h_signature308.html">pcl::VFHSignature308</a></div><div class="ttdoc">A point structure representing the Viewpoint Feature Histogram (VFH).</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1366</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1datatype_html"><div class="ttname"><a href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:163</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1offset_html"><div class="ttname"><a href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:151</div></div>
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